version: 66.13
glider: 401
mission: 22
dive: 494
start: 8 4 117 14 49 4
data:
$ID,401
$MISSION,22
$DIVE,494
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,24
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,600
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,040817,142321,6001.8423,-17245.5625,8,0.8,16,7.5,0.0,207.5,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.9
$GPS2,040817,142321,6001.8423,-17245.5625,8,0.8,16,7.5,0.0,207.5,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.371463,0.098937
$KALMAN_X,57116.007812,-2743.297363,-858.751160,-186138.812500,15.082458
$KALMAN_Y,40659.042969,833.777344,205.077744,44473.406250,-14.277817
$MHEAD_RNG_PITCHd_Wd,277.4,31859,-7.7,-8.333,-12.23,10335
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.58,-585.0,2395,1944,2354,4092,0.0,0.0,0,20,5.80,0.00,-4.28,0.000,20482,0.025,0.000,1833,1944,2818,2818,4094,0,0,0,0,0,0,26.11,28.83,26.13,10.29,50.59
$GC,23,-1.58,-585.0,1832,1944,2818,4094,0.1,0.0,1,33,0.00,1.10,-3.35,0.000,16644,0.000,1.273,1832,2354,3171,3171,4095,0,0,0,0,0,0,26.29,24.94,26.30,10.39,50.63
$GC,135,-1.58,-585.0,1832,2354,3173,4095,11.9,-12.9,17,144,0.00,1.02,0.00,0.000,1030,0.000,0.030,1832,1948,3173,3173,4094,0,0,0,0,0,0,26.08,26.03,26.08,10.44,50.31
$GC,182,-1.58,-585.0,1832,1948,3174,4094,17.5,-11.8,23,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1949,3174,3174,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.43,49.56
$GC,226,-1.58,-585.0,1832,1948,3175,4094,23.0,-12.6,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1948,3174,3174,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.42,49.37
$GC,270,-1.58,-585.0,1832,1948,3176,4094,28.4,-12.0,35,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1948,3176,3176,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.41,49.05
$GC,315,-1.58,-585.0,1831,1948,3177,4095,33.5,-11.3,41,324,0.00,1.10,0.00,0.000,260,0.000,0.044,1832,2358,3177,3177,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.40,48.66
$GC,360,-1.58,-585.0,1832,2358,3178,4095,38.7,-11.4,47,370,0.00,1.00,0.00,0.000,1030,0.000,0.028,1832,1962,3178,3178,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.40,48.07
$GC,406,-1.58,-585.0,1832,1962,3178,4094,43.9,-11.7,53,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1962,3178,3178,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.38,47.99
$GC,449,-1.58,-585.0,1832,1962,3180,4095,48.7,-10.9,59,459,0.00,1.12,0.00,0.000,516,0.000,0.051,1832,1519,3180,3180,4094,0,0,0,0,0,0,26.47,26.18,26.48,10.38,47.12
$GC,509,-1.58,-585.0,1831,1519,3181,4094,55.2,-11.2,67,518,0.00,0.98,0.00,0.000,1030,0.000,0.027,1832,1944,3181,3181,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.38,46.45
$STATE,552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,552,begin apogee
$GC,557,-0.45,0.0,1832,1943,3181,4095,60.1,-10.7,73,599,3.78,0.00,33.28,1.295,10244,0.053,0.000,2185,1946,2484,2484,4094,0,0,0,0,0,0,26.24,25.25,24.30,10.37,46.29
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,603,1.58,585.0,2185,1945,2484,4094,62.5,0.0,78,648,6.97,0.00,33.33,1.273,11270,0.035,0.000,2832,1947,1802,1802,4094,0,0,0,0,0,0,25.48,25.63,23.81,10.21,46.18
$GC,685,1.58,585.0,2832,1946,1801,4094,57.0,9.9,88,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1947,1802,1802,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.07,45.58
$GC,731,1.58,585.0,2832,1946,1800,4094,52.4,10.0,94,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1800,1800,4094,0,0,0,0,0,0,25.66,25.68,25.67,10.06,45.27
$GC,777,1.58,585.0,2831,1947,1799,4094,47.8,10.1,100,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1799,1799,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.06,45.19
$GC,824,1.58,585.0,2832,1946,1798,4094,43.0,9.8,106,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1947,1798,1798,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.06,45.78
$GC,870,1.58,585.0,2832,1946,1797,4094,38.3,10.3,112,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1797,1797,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.06,45.47
$GC,913,1.58,585.0,2832,1946,1796,4094,33.9,9.7,118,923,0.00,1.12,0.00,0.000,260,0.000,0.041,2832,2368,1796,1796,4094,0,0,0,0,0,0,26.05,25.77,26.06,10.06,45.86
$GC,984,1.58,585.0,2832,2368,1795,4094,26.8,10.1,128,994,0.00,1.05,0.00,0.000,1030,0.000,0.031,2833,1960,1794,1794,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.07,46.73
$GC,1031,1.58,585.0,2832,1959,1793,4094,22.5,9.3,134,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,1794,1794,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.07,47.16
$GC,1077,1.58,585.0,2832,1959,1793,4094,18.3,9.1,140,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1960,1792,1792,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.08,47.67
$GC,1123,1.58,585.0,2832,1959,1791,4094,14.3,8.6,146,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1960,1791,1791,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.08,47.71
$GC,1169,1.58,585.0,2832,1959,1790,4094,10.3,8.6,152,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.09,48.50
$GC,1215,1.58,585.0,2832,1959,1789,4094,6.3,8.9,158,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1959,1789,1789,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.09,48.81
$GC,1261,1.58,585.0,2832,1959,1788,4094,2.1,8.6,164,1271,0.00,1.10,0.00,0.000,260,0.000,0.040,2833,2370,1788,1788,4094,0,0,0,0,0,0,26.35,26.08,26.36,10.11,48.97
$STATE,1279,end climb,FINISH_DEPTH_REACHED
$STATE,1279,begin subsurface finish
$FINISH1,0.5,1.024223,96
$GC,1286,0.14,96.0,2832,1945,1787,4094,0.5,7.9,166,1305,4.55,0.00,-5.25,0.000,20742,0.024,0.000,2388,1943,2376,2376,4094,0,0,0,0,0,0,26.14,25.63,26.19,10.12,49.92
$FINISH2,0.3
$STATE,1306,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1306,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,125650
$TT8_MAMPS,0.026215,0.238182
$HUMID,49.60
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.81,12.528
$10V_AH,10.17,15.805
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.100,10.700,66.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,465.206,0.972,145.356,698.869,52.234,33.424,425.865,0.000,405.762,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1272.960,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.390,456.319,361.397,535.323,695.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330964
$DATA_FILE_SIZE,17778,168
$CAP_FILE_SIZE,31932,0
$CFSIZE,1024409600,995213312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,142321,6001.842,-17245.562,8,0.8,16,7.5,0.0,207.5,10,4.8